CN115604317B - Prompting system and method for industrial daily inspection - Google Patents
Prompting system and method for industrial daily inspection Download PDFInfo
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- CN115604317B CN115604317B CN202211292271.XA CN202211292271A CN115604317B CN 115604317 B CN115604317 B CN 115604317B CN 202211292271 A CN202211292271 A CN 202211292271A CN 115604317 B CN115604317 B CN 115604317B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
Abstract
The invention provides a prompting system and a prompting method for industrial daily inspection, which belong to the field of industrial inspection and comprise the following steps: daily inspection management platform, equipment inspection unit, safety inspection unit, GPS position supervision unit, remote supervision unit and emergency unit: the daily inspection management platform is connected with the equipment inspection unit, can be used for building the rule of daily inspection management information through the daily inspection management platform, and can inspect the operation information data and the equipment data of the industrial equipment, and is connected with the safety inspection unit; according to the invention, the latest file can be checked through the mobile client mobile phone by manual inspection of the equipment inspection unit and the safety inspection unit, the intelligent robot inspection can automatically receive task information, and then the abnormal equipment inspection unit and the abnormal safety inspection unit are subjected to feedback maintenance through the GPS position monitoring unit.
Description
Technical Field
The invention belongs to the field of industrial inspection, and particularly relates to a prompting system and a prompting method for industrial daily inspection.
Background
The arrival of industry 4.0 also enables the Internet to be rapidly developed and widely applied, greatly promotes the development of Web technology and Web application systems, and promotes enterprise informatization construction. The current various Web applications face the processing problems of concurrent access and large data volume, and meanwhile, the special requirements of application systems in the industry on data storage are also solved. The industrial inspection also faces the problem, so that the intelligent inspection work can be realized by developing intelligent intelligence to integrate enterprise data resources to the maximum extent, the related inspection work is enabled to be in a practical place, problems are found in time, and the situation is prevented;
the conventional industrial daily inspection prompts rely on traditional inspection tools such as manual recording paper inspection tables, inspection devices and the like through staff, inspection staff carry information buttons or information cards, inspection work is carried out according to routes in an inspection area deployed in advance, and management staff can monitor inspection routes and working time of staff through a monitoring center. The inspection method has the characteristics that: the system and the method are easy to cheat, easy to damage tools, high in workload, high in timeliness and high in cost, so that a prompting system and a prompting method for industrial daily inspection by combining manual inspection and intelligent robot inspection are needed.
In summary, the present invention provides a prompting system and method for industrial daily inspection to solve the above problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides a prompting system and a prompting method for industrial daily inspection, which are used for solving the problems of easy cheating, easy tool damage, large workload, strong timeliness and high cost caused by relying on manual inspection in the prior art.
A prompting system and method for industrial daily inspection comprises: daily inspection management platform, equipment inspection unit, safety inspection unit, GPS position supervision unit, remote supervision unit and emergency unit: the daily inspection management platform is connected with the equipment inspection unit, the rule of daily inspection management information can be constructed through the daily inspection management platform, the equipment inspection unit can inspect industrial equipment operation information data and equipment data, the daily inspection management platform is connected with the safety inspection unit, the safety inspection unit can inspect safety operation information data of an industrial site, the safety inspection unit and the equipment inspection unit are respectively connected with the GPS position supervision unit, the GPS position supervision unit can carry out locking feedback on the positions of the safety inspection unit and the equipment inspection unit, the GPS position supervision unit is connected with the remote supervision unit, the remote supervision unit can form a panoramic AR inspection mode, the remote supervision unit is connected with the emergency unit, the GPS position supervision unit is connected with the emergency unit, and the emergency unit can prompt for collected data information and take maintenance on the emergency;
the method comprises the following steps:
step one: after the start, setting test items and inspection tasks of equipment and industrial safety inspection by a daily inspection management platform;
step two: aiming at the safety inspection unit and the equipment inspection unit, corresponding inspection tasks can be sent through the intelligent terminal, two modes of manual inspection and intelligent robot inspection are formed, manual inspection personnel hold paper and a camera to directly inspect at an inspection place, and the intelligent robot inspection is used for monitoring production equipment;
step three: the remote supervision unit can form a remote collaboration mode, can form an AR panorama online inspection module, realizes remote inspection, and can provide stable communication on complex equipment sites by an ALVA Rainbow remote communication tool in the inspection process; the AR panorama online inspection module adds information such as names, longitude and latitude, azimuth angles, distances, positions, historical case descriptions, contact modes and the like to the real-time monitoring picture, and assists security personnel to timely and effectively treat abnormal conditions and emergency situations captured by the video picture;
step four: aiming at the inspection data of the safety inspection unit and the equipment inspection unit, and combining with a daily inspection management platform, judging whether the equipment and the safety site are abnormal or not;
step five: the safety inspection unit and the equipment inspection unit can carry out maintenance management on equipment and sites by carrying out safety prompt and emergency management on abnormal inspection data;
step six: the method comprises the steps of recording inspection data, perfecting a statistical analysis report, counting the execution condition of an inspection plan, counting the times and the occurrence time of various abnormal conditions by an intelligent inspection system, classifying and analyzing, further optimizing a management flow, transmitting to a daily inspection management platform, and ending industrial daily inspection.
Preferably, the daily inspection management platform is developed based on an embedded technology and can be suitable for mobile terminals such as smart phones, PDAs and the like, and the daily inspection management platform monitors the content including vibration measurement, temperature measurement, speed measurement and the like and simultaneously knows the technological parameters of equipment operation.
Preferably, the equipment inspection unit is required to check whether the pressure, temperature, cooling water, lubrication and the like of the responsible equipment are abnormal, check whether the equipment in the area operates with abnormal sound and abnormal vibration, and check whether all dynamic and static sealing points in the area are leaked or not.
Preferably, the GPS position supervision unit performs inspection positioning through a GPS differential positioning principle and a Bluetooth fusion positioning technology, wherein the differential positioning adopts carrier phase measurement positioning, the differential positioning adopts pseudo random code pseudo range measurement positioning, the positioning precision is controllable, and the precision of 2-5 meters can be realized.
Preferably, the remote regulatory unit parameter visualization imaging, fusion with existing IoT systems, viewing data on the device site; the AR intelligent glasses are supported, meanwhile, a plurality of operating systems such as Android, iOS, windows are adapted, various scenes such as one-to-one, one-to-many, many-to-many and the like are supported, and a user can freely select the type of terminal equipment accessed to communication and perform multidimensional communication cooperation.
Preferably, the manual inspection mode of the safety inspection unit and the equipment inspection unit in the second step is used for collecting inspection data through a handheld intelligent terminal, the collected data not only comprises whether inspection items are qualified or not, but also can be used for photographing and reserving evidence through the terminal, the system automatically maintains the corresponding relation between the inspection items and photos, and the manual inspection mode flow is as follows: the system server-VPH/LAN-WEB client-data acquisition end;
and according to the intelligent robot inspection mode of the safety inspection unit and the equipment inspection unit in the second step, technologies such as Internet of things, big data, visualization, artificial intelligence and the like are utilized, based on sensor equipment such as visible light, infrared, sound and the like, information is collected in real time, information is processed and reported, the technical structure of the intelligent robot comprises a service layer, a supporting layer, a data layer and an access layer, the intelligent robot inspection realizes inspection task equipment through the technologies such as path planning, autonomous navigation positioning, environment sensing and the like, and equipment faults, environment safety judgment and automatic alarm can be provided for enterprises without manual intervention.
Preferably, according to the intelligent robot inspection mode in the second step, the precision and real-time problems of map construction and positioning by SLAP main flow algorithm and the application of the intelligent robot inspection mode in an intelligent inspection robot platform, the self-built double-wheel differential inspection robot AIIR and Hokuyo laser radar sensors are utilized to model an EKFSLAM algorithm; when the intelligent inspection robot moves for delta t time, the formula is satisfied:
in the above formula: mu (mu) t-1 Is the numerical mean value of the state vector Xt at the time t-1, xt-1 is the state vector at the time t-1, theta t-1 The azimuth angle of the inspection robot at the time t-1; y is t-1 The length of the polar coordinates of the inspection robot at the time t-1; vt, wt and theta are the linear speed, steering angular speed and azimuth angle of the inspection robot; Δt is the control instruction time interval; n (0, |F) X T R t F X I) is subject to average 0 and variance is |f X T R t F X Gaussian distribution of i, F X T R t F X I is a matrix value; rt is the covariance of the dynamic uncertainty error; fx is a co-ordination coefficient matrix;
wherein, the liquid crystal display device comprises a liquid crystal display device,
preferably, the northern ocean Hokuyo laser radar sensor with the observation angle of 240 degrees and the furthest detection distance of 6m is utilized according to the intelligent robot inspection mode.
Preferably, the overall architecture of the online inspection module of the AR panorama is composed of a 4-layer architecture, and the infrastructure service layer of the bottom layer is composed of a series of front-end sensing devices such as AR binocular glasses, AR anti-explosion glasses, smart phones and video monitoring cameras, wherein the AR glasses can refer to a928, wherein the a928 hardware parameters: the head weight is less than 65 g, the whole machine is IP54, 1300 ten thousand pixels are photographed, 1080P high-definition video stream is supported, the FOV is more than 100 degrees, 9-axis IMU pose sensing is achieved, the anti-shake function is achieved, and the interface is a Type-C interface;
the data service layer of the second layer consists of a provincial level center cloud and a city level and county level edge cloud, so that operation, storage and data cleaning of the sensing data acquired by the bottom layer are realized;
the third platform service layer is composed of functional service modules including flow management, alarm management, equipment management, organization management, 3D environment identification, remote assistance, process recording, third party service interfaces and the like, and the top software service layer provides software services including emergency repair, pipe gallery inspection, point location inspection, regional inspection, law enforcement and evidence collection, indoor navigation, diagnosis and early warning and the like.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, a daily inspection management platform, an equipment inspection unit, a safety inspection unit, a GPS (global positioning system) position supervision unit, a remote supervision unit and an emergency unit are combined with each other, the inspection tasks are well carried out through the daily inspection management platform, then the equipment inspection unit and the safety inspection unit are inspected in a targeted manner, the latest files can be checked through mobile client mobile phones by manual inspection of the equipment inspection unit and the safety inspection unit, and the intelligent robot inspection can automatically receive task information; therefore, equipment file management, report repair, inspection and maintenance can be timely carried out, the whole process is covered, and the equipment can be monitored at any time; the method comprises the steps of high-efficiency point inspection and inspection, self-defining a reminding function, ensuring effective execution of work, and then carrying out feedback maintenance on an abnormal equipment inspection unit and a safety inspection unit through a GPS position monitoring unit, wherein the GPS position monitoring unit continuously tracks and observes all visible GPS satellite pseudo ranges in a visual field by arranging GPS receivers as differential base stations at one or a plurality of known points in a positioning area; the emergency unit can timely solve the problems collected in the equipment inspection unit and the safety inspection unit.
2. The invention can carry out remote supervision units through the AR panorama online inspection module, and the first visual angle remote inspection and assistance: with the aid of portable AR smart glasses, users do not need to hold extra equipment and remotely collaborate when using HiLeia communication. HiLeia can share the first visual angle picture, and the patrol personnel can communicate an assistance instruction through the AR tag, the voice and the file. Law enforcement record cloud storage and retrieval: when the remote patrol video-audio intercom is started, the AR glasses automatically start video recording. AR-based 3D spatial labeling: the remote user can directly carry out space annotation in the real-time communication picture, and the guiding result is synchronously displayed in the field user field of view. The space labeling capability of HiLeia live-action fusion ensures more accurate and efficient collaboration. Labeling AR glasses and supporting multiple terminals; the AR intelligent glasses are perfectly supported, the user can freely select the type of the terminal equipment accessed to the communication, and the communication collaboration is achieved in multiple dimensions. Proprietary workbench, open integration, enterprise autonomous reporting of correction results: based on AR remote communication, an enterprise personalized workbench is built. The enterprise multi-type service system is integrated, the service system is rich and various, users can configure independent functional components according to roles and scene requirements, the service requirements are met through free combination, and the full-flow control intellectualization of problem solving and feedback is achieved.
Drawings
FIG. 1 is a schematic diagram of a system of the present invention;
FIG. 2 is a schematic flow chart of the method of the present invention;
FIG. 3 is a schematic diagram of a server of the manual inspection system of the present invention;
fig. 4 is a schematic diagram of an intelligent robot inspection technical mechanism.
In the figure: 1. a daily inspection management platform; 2. an equipment inspection unit; 3. a safety inspection unit; 4. a GPS position supervision unit; 5. a remote supervision unit; 6. emergency unit.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
As shown in fig. 1-4, the present invention provides a prompting system and a method for daily industrial inspection, wherein a daily inspection management platform 1, an equipment inspection unit 2, a safety inspection unit 3, a GPS position supervision unit 4, a remote supervision unit 5 and an emergency unit 6: the daily inspection management platform 1 is connected with the equipment inspection unit 2, the rule of the daily inspection management information can be constructed through the daily inspection management platform 1, the equipment inspection unit 2 can inspect the operation information data of the industrial equipment and the equipment data, the daily inspection management platform 1 is connected with the safety inspection unit 3, the safety inspection unit 3 can inspect the safety operation information data of the industrial site, the safety inspection unit 3 and the equipment inspection unit 2 are respectively connected with the GPS position supervision unit 4, the GPS position supervision unit 4 can lock and feed back the positions of the safety inspection unit 3 and the equipment inspection unit 2, the GPS position supervision unit 4 is connected with the remote supervision unit 5, the remote supervision unit 5 can form an AR panoramic inspection mode, the remote supervision unit 5 is connected with the emergency unit 6, the GPS position supervision unit 4 is connected with the emergency unit 6, and the emergency unit 6 can prompt and take maintenance on the emergency according to the acquired data information;
the method comprises the following steps:
step one: after the start, setting test items and inspection tasks of equipment and industrial safety inspection by the daily inspection management platform 1;
step two: aiming at the safety inspection unit 3 and the equipment inspection unit 2, corresponding inspection tasks can be sent through the intelligent terminal, two modes of manual inspection and intelligent robot inspection are formed, manual inspection personnel take paper and a camera to directly inspect at an inspection place for inspection, and the intelligent robot inspection is used for monitoring production equipment;
according to the manual inspection mode of the safety inspection unit 3 and the equipment inspection unit 2 in the second step, inspection data are collected through the handheld intelligent terminal, the collected data not only comprise whether inspection items are qualified or not, but also can be photographed through the terminal to reserve evidence, the corresponding relation between the inspection items and photos is automatically maintained by the system, and the manual inspection mode flow is as follows: the system server-VPH/LAN-WEB client-data acquisition end;
the system server is a managed system database service and a Web service, and is a neural center of the whole system. A stable and efficient system server is required to be deployed.
The VPH/LAN is the network link of the whole system, which is the information channel of the whole system, and the network channel for providing stable operation is required to be provided, and can be a wired network or a wireless network.
The data acquisition end comprises a patrol data acquisition module which is embedded in the handheld patrol terminal, can be directly carried out by patrol personnel to a workshop by the patrol terminal for patrol operation, and has the functions of photographing, bar code acquisition and the like;
and according to the intelligent robot inspection mode of the safety inspection unit 3 and the equipment inspection unit 2 in the second step, technologies such as Internet of things, big data, visualization, artificial intelligence and the like are utilized, based on sensor equipment such as visible light, infrared, sound and the like, information is collected in real time, information is processed and reported, the technical structure of the intelligent robot comprises a service layer, a supporting layer, a data layer and an access layer, the intelligent robot inspection realizes inspection task equipment through the technologies such as path planning, autonomous navigation positioning, environment sensing and the like, and equipment faults, environment safety judgment and automatic alarm can be provided for enterprises without manual intervention.
Step three: the remote supervision unit 5 can form a remote collaboration mode, can form an AR panorama online inspection module, realizes remote inspection, and can provide stable communication on complex equipment sites by an ALVA Rainbow remote communication tool in the inspection process; the AR technology can be used for carrying out enhancement on the basis of reality, adding information such as names, longitude and latitude, azimuth angles, distances, positions, historical case descriptions, contact modes and the like to a real-time monitoring picture, and assisting security personnel in timely and effectively treating abnormal situations and emergency situations captured by a video picture;
step four: aiming at the inspection data of the safety inspection unit 3 and the equipment inspection unit 2, and combining with the daily inspection management platform 1, whether the equipment and the safety site are abnormal or not is judged. According to the second and fourth steps, the whole architecture of the AR panorama online inspection module consists of a 4-layer architecture, and the underlying infrastructure service layer consists of a series of front-end sensing devices such as AR binocular glasses, AR anti-explosion glasses, smart phones, video monitoring cameras and the like, wherein the AR glasses can refer to A928, wherein A928 hardware parameters are as follows: the head weight is less than 65 g, the whole machine is IP54, 1300 ten thousand pixels are photographed, 1080P high-definition video stream is supported, the FOV is more than 100 degrees, 9-axis IMU pose sensing is achieved, the anti-shake function is achieved, and the interface is a Type-C interface; the data service layer of the second layer consists of a provincial level center cloud and a city level and county level edge cloud, so that operation, storage and data cleaning of the sensing data acquired by the bottom layer are realized; the third platform service layer is composed of functional service modules including flow management, alarm management, equipment management, organization management, 3D environment identification, remote assistance, process recording, third party service interfaces and the like, and the top software service layer provides software services including emergency repair, pipe gallery inspection, point location inspection, regional inspection, law enforcement and evidence collection, indoor navigation, diagnosis and early warning and the like.
Step five: the safety inspection unit 3 and the equipment inspection unit 2 can carry out maintenance management on equipment and sites by carrying out safety prompt and emergency management on abnormal inspection data;
step six: the method comprises the steps of recording inspection data, perfecting a statistical analysis report, counting the execution condition of an inspection plan, counting the times and the occurrence time of various abnormal conditions by an intelligent inspection system, classifying and analyzing, further optimizing a management flow, transmitting to a daily inspection management platform 1, and ending industrial daily inspection.
The daily inspection management platform 1 is developed based on an embedded technology and can be suitable for mobile terminals such as smart phones, PDAs and the like, the daily inspection management platform 1 monitors the monitoring content including vibration measurement, temperature measurement, speed measurement and the like, and meanwhile, the technological parameters of equipment operation are known. The equipment inspection unit 2 needs to check whether the pressure, temperature, cooling water, lubrication and the like of the responsible equipment are abnormal, whether the equipment in the area is abnormal in operation and vibration is detected, and whether all dynamic and static sealing points in the area are leaked is checked by the safety inspection unit 3.
The GPS position supervision unit 4 performs inspection positioning through a GPS differential positioning principle and a Bluetooth fusion positioning technology, wherein the differential positioning is a special application of relative positioning, the high-precision relative positioning adopts carrier phase measurement positioning, the differential positioning mainly adopts pseudo-random code pseudo-range measurement positioning, the positioning precision is controllable, and the 2-5 m precision can be realized. Remote supervisory unit 5 parameter visualization imaging, fusion with existing IoT systems, viewing data on the device site; the AR intelligent glasses are supported, meanwhile, a plurality of operating systems such as Android, iOS, windows are adapted, various scenes such as one-to-one, one-to-many, many-to-many and the like are supported, and a user can freely select the type of terminal equipment accessed to communication and perform multidimensional communication cooperation.
According to the intelligent robot inspection mode in the second step, the problems of precision and real-time of map construction and positioning through SLAP main flow algorithm and the application of the intelligent robot inspection mode in an intelligent inspection robot platform, the self-built double-wheel differential inspection robot AIIR and Hokuyo laser radar sensors are utilized to model an EKFSLAM algorithm;
when the intelligent inspection robot moves for delta t time, the formula is satisfied:
in the above formula: mu (mu) t-1 Is the numerical mean value of the state vector Xt at the time t-1, xt-1 is the state vector at the time t-1, theta t-1 The azimuth angle of the inspection robot at the time t-1; y is t-1 The length of the polar coordinates of the inspection robot at the time t-1; vt, wt and theta are the linear speed, steering angular speed and azimuth angle of the inspection robot; Δt is the control instruction time interval; n (0, |F) X T R t F X I) is subject to average 0 and variance is |f X T R t F X Gaussian distribution of i, F X T R t F X I is a matrix value; rt is the covariance of the dynamic uncertainty error; fx is a co-ordination coefficient matrix;
wherein, the liquid crystal display device comprises a liquid crystal display device,
in the second step, the intelligent robot inspection mode uses a northern ocean Hokuyo laser radar sensor with an observation angle of 240 degrees and a farthest detection distance of 6 m.
The specific working principle is as follows: as shown in fig. 1-4, when the prompting system and the method for daily inspection of industry are used, firstly, by combining the daily inspection management platform 1, the equipment inspection unit 2, the safety inspection unit 3, the GPS position supervision unit 4, the remote supervision unit 5 and the emergency unit 6, through the task of the daily inspection management platform 1 component to perform good inspection, the daily inspection management platform 1 can set a plurality of inspection route posts, inspection plans, and parameters such as the number of times of daily inspection, start time, time of use and the like can be respectively set for each inspection route and plan. The system can automatically identify missed patrol, delay, early arrival, short time and overtime records among stations and the like and marks the missed patrol by different colors. The method can be used for inquiring various conditions of the patrol personnel singly or in combination according to the date, the time period, the route post, the shift, the inquiry comprises classified reports such as normal records, missing point records, non-punctual records and the like. The statistical analysis report can be automatically generated, and management data such as normal inspection rate, leakage point rate, late arrival rate and early arrival rate are provided. Team personnel recording inspection can be automatically judged according to a shift table of a workshop. And providing the original patrol record inquiry, and ensuring the record to be accurate. All records provide a printout function. The system also provides a multi-level user authority function, a user operation log and other safety functions, then the equipment inspection unit 2 and the safety inspection unit 3 are inspected in a targeted mode, the latest files can be checked through a mobile client mobile phone during manual inspection of the equipment inspection unit 2 and the safety inspection unit 3, the intelligent robot inspection can automatically receive task information, wherein the intelligent inspection robot is based on one-stop type background through the carried monitoring means such as high-definition image machine vision technology, infrared imaging temperature measuring technology, sound spectrum analysis technology, gas concentration measurement, temperature and humidity measurement and the like, the integration and diversification of the monitoring means and tools are realized, the intelligent robot inspection can be arranged at the rear end at any time, inspection tasks can be defined in a one-key mode, inspection range and inspection duration can be set at will, and the inspection tasks can be configured according to time, content, paths and the like. Compared with a fixed video monitoring system, the automatic inspection robot can flexibly move to any monitoring area according to the needs, so that the omnibearing dynamic monitoring is truly realized; therefore, equipment file management, report repair, inspection and maintenance can be timely carried out, the whole process is covered, and the equipment can be monitored at any time; the method comprises the steps of high-efficiency point inspection and inspection, self-defining a reminding function, ensuring effective execution of work, and then carrying out feedback maintenance on an abnormal equipment inspection unit 2 and a safety inspection unit 3 through a GPS position supervision unit 4, wherein the GPS position supervision unit 4 continuously tracks all visible GPS satellite pseudo ranges in an observation field by arranging GPS receivers as differential base stations at one or a plurality of known points in a positioning area; the emergency unit 6 can timely solve the problems collected in the equipment inspection unit 2 and the safety inspection unit 3; then, the remote supervision unit 5 can be performed through the AR panorama online inspection module, and the first view angle remote inspection and assistance: with the help of the portable AR intelligent glasses, a user does not need to hold extra equipment when using HiLeia communication, and remote collaboration and working under eyes are not wrong. HiLeia can share the first view, the inspector is like being in the spot, and can communicate assistance instructions through AR tags, voices and files. Law enforcement record cloud storage and retrieval: when the remote patrol video and audio intercom is started, the AR glasses automatically start video recording, the first-view high-definition recording is carried out on the pictures seen by the enterprise site, the law enforcement recorded video is automatically uploaded to cloud storage after the patrol is finished, and the provincial ecological environment hall can review and audit the uploaded law enforcement recorded video. AR-based 3D spatial labeling: the remote user can directly carry out space annotation in the real-time communication picture, the annotation information is fused with the physical environment and the real object, and the guiding result is synchronously displayed in the field user field of view. The space labeling capability of HiLeia live-action fusion ensures more accurate and efficient collaboration. Labeling AR glasses and supporting multiple terminals; the AR intelligent glasses are perfectly supported, meanwhile, a plurality of operating systems such as Android, iOS, windows are adapted, various scenes such as one-to-one, one-to-many, many-to-many and the like are supported, the user can freely select the type of the terminal equipment accessed to the communication, and the multidimensional communication is cooperated. Proprietary workbench, open integration, enterprise autonomous reporting of correction results: based on AR remote communication, an enterprise personalized workbench is built. The system is an enterprise multi-type service system, is rich and various, and can be used for configuring independent functional components according to roles and scene requirements by users, and can be freely combined to meet business requirements, wherein the system relates to post-solving of problems found in the inspection process, the enterprise can carry out improvement on existing problems according to requirements after the inspection is finished and upload improvement records automatically, an ecological environment hall can be used for auditing the improvement conditions reported by the enterprise and returning auditing results, and the system and the method realize full-flow control intellectualization of problem solving and feedback, which are the characteristics of the prompting system and the method for daily inspection of the industry.
The embodiments of the present invention have been shown and described for the purpose of illustration and description, it being understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made therein by one of ordinary skill in the art without departing from the scope of the invention.
Claims (4)
1. A prompting method for industrial daily inspection, the method comprising the steps of:
step one: through the equipment set by the daily inspection management platform (1), the test items and inspection tasks of industrial safety inspection;
step two: aiming at the safety inspection unit (3) and the equipment inspection unit (2) to send corresponding inspection tasks through the intelligent terminal, two modes of manual inspection and intelligent robot inspection are formed, manual inspection personnel take paper and a camera to directly inspect at an inspection place, and the intelligent robot inspection is used for monitoring production equipment;
step three: the remote supervision unit (5) forms a remote collaboration mode to form an AR panorama online inspection module to realize remote inspection, and an ALVA Rainbow remote communication tool is used for providing communication on the equipment site when an problematic situation occurs in the inspection process; the AR panorama online inspection module adds names, longitude and latitude, azimuth angles, distances, positions, historical case descriptions and contact ways to the real-time monitoring picture, and assists security personnel to effectively treat abnormal situations and emergency situations captured by the video picture in time;
step four: aiming at the inspection data of the safety inspection unit (3) and the equipment inspection unit (2), and combining with a daily inspection management platform (1), judging whether the equipment and the safety site are abnormal or not;
step five: the safety inspection unit (3) and the equipment inspection unit (2) can carry out maintenance management on equipment and sites by carrying out safety prompt and emergency management on abnormal inspection data;
step six: recording inspection data, perfecting statistical analysis report forms, counting the execution condition of inspection plans, counting the times and occurrence time of various abnormal conditions by an intelligent inspection system, classifying and analyzing, optimizing management flow, transmitting to a daily inspection management platform (1) and ending industrial daily inspection,
in the second step, the manual inspection mode of the safety inspection unit (3) and the equipment inspection unit (2) collects inspection data through the handheld intelligent terminal, the collected data comprise whether inspection items are qualified or not, evidence is reserved through photographing of the terminal, the system automatically maintains the corresponding relation between the inspection items and photos, and the manual inspection mode flow: the system server-VPH/LAN-WEB client-data acquisition end;
in the second step, the intelligent robot inspection mode of the safety inspection unit (3) and the equipment inspection unit (2) uses at least one of the internet of things, big data, visualization and artificial intelligence technology, at least one sensor equipment based on visible light, infrared and sound to collect information in real time, process and report information, the intelligent robot has a technical structure comprising a service layer, a supporting layer, a data layer and an access layer,
in the second step, the intelligent robot inspection mode models an EKFSLAM algorithm by using a double-wheel differential inspection robot laser radar sensor through the map construction and positioning precision of an SLAP main flow algorithm; when the intelligent inspection robot moves for delta t time, the formula is satisfied:
in the above formula: mu (mu) t-1 Is the numerical mean value of the state vector Xt at the time t-1, xt-1 is the state vector at the time t-1, theta t-1 The azimuth angle of the inspection robot at the time t-1; y is t-1 The length of the polar coordinates of the inspection robot at the time t-1; vt, wt and theta are the linear speed, steering angular speed and azimuth angle of the inspection robot; Δt is control ofA command time interval; n (0, |F) X T R t F X I) is subject to average 0 and variance is |f X T R t F X Gaussian distribution of i, F X T R t F X I is a matrix value; rt is the covariance of the dynamic uncertainty error; fx is a co-ordination coefficient matrix;
wherein, the liquid crystal display device comprises a liquid crystal display device,
2. the prompting method for industrial routine inspection according to claim 1, wherein: in the second step, the intelligent robot inspection mode uses a northern ocean Hokuyo laser radar sensor with an observation angle of 240 degrees and a farthest detection distance of 6 m.
3. The prompting method for industrial routine inspection according to claim 2, wherein: in the second step, the data association of the intelligent robot inspection mode is to match each feature matrix observed by the sensor with a feature matrix map.
4. A prompting method for industrial routine according to claim 3, wherein: the whole framework of the AR panorama online inspection module consists of a 4-layer framework, and the infrastructure service layer at the bottom layer consists of any one of AR binocular glasses, AR non-binocular glasses, AR explosion-proof glasses, a smart phone and a video monitoring camera serving as front-end sensing equipment;
the data service layer of the second layer consists of a provincial level center cloud and a city level and county level edge cloud, so that operation, storage and data cleaning of the sensing data acquired by the bottom layer are realized;
the third platform service layer is composed of functional service modules including flow management, alarm management, equipment management, organization management, 3D environment identification, remote assistance, process recording, third party service interfaces and the like, and the top software service layer provides software services including emergency repair, pipe gallery inspection, point location inspection, regional inspection, law enforcement and evidence collection, indoor navigation, diagnosis and early warning and the like.
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